Derivation of motion equation for mobile manipulator with viscoelastic links and revolute–prismatic flexible joints via recursive Gibbs–Appell formulations

Korayem, M. H.; Dehkordi, S. F.

doi:10.1016/j.robot.2018.02.013

Cited by 39 publications

(17 citation statements)

References 25 publications

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“…One peculiarity indicated is the difference in the execution of the direct and inverse kinematics problems in these mechanisms [15]. Authors of [16] confirmed the importance of considering the deformativeness of the bearing system of manipulators in determining their functional properties. However, they did not pay attention to issues related to defining the operational space of manipulators and taking into consideration the type of element base when determining their static characteristics.…”

Section: Literature Review and Problem Statementmentioning

confidence: 93%

Substantiating the requirements to functional indicators for the manipulators of mobile robotic demining complexes

Strutynsky¹,

Kotsyuruba²,

Dovhopoliy³

et al. 2019

EEJET

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Section: Literature Review and Problem Statementmentioning

confidence: 93%

Substantiating the requirements to functional indicators for the manipulators of mobile robotic demining complexes

Strutynsky¹,

Kotsyuruba²,

Dovhopoliy³

et al. 2019

EEJET

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“…Massoud et al (2018), and Luo (1993) designed and conducted experiments for one link flexible robot. Experiments for multi-link flexible robots were implemented by Shafei & Korayem (2017), Nagaraj et al (1997), Yim et al (1993), and Korayem & Dehkordi (2018). In particular, Korayem & Dehkordi (2018) presented experiments for a mobile manipulator, with two flexible links and revolute-prismatic joints to demonstrate the performance of a dynamic model formulated by themself.…”

Section: A Brief Literature Review and Related Workmentioning

confidence: 99%

An efficient finite element formulation of dynamics for a flexible robot with different type of joints

Bien

et al. 2019

Mechanism and Machine Theory

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If two adjacent links of a flexible robot are connected via a revolute joint or a fixed prismatic joint, the relative motion of the next link will depend on both the joint motion and the elastic displacement of the distal end of the previous link. However, if the two adjacent links are connected via a sliding prismatic joint, the relative motion of the next link will depend additionally on the elastic deformation distributed along the previous link. Therefore, formulation of the motion equations for a multi-link flexible robot consisting of the revolute joints, the fixed prismatic joints and the sliding prismatic joints is challenging. In this study, the finite element kinematic and dynamic formulation was successfully developed and validated for the flexible robot, in which a transformation matrix is proposed to describe the kinematics of both the joint motion and the link deformation. Additionally, a new recursive formulation of the dynamic equations is introduced. As compared with the previous methods, the time complexity of the formulation is reduced by O(2η), where η is the number of finite elements on all links. The numerical examples and experiments were implemented to validate the proposed kinematic and dynamic modelling method.

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“…Our methodology is based on the Udwadia-Kalaba equation (UKE) [12][13][14][15][16][17]. The Udwadia-Kalaba equation is obtained by using Gauss's principle rather than the more commonly used principles of Lagrange, Hamilton, Gibbs, and Appell [18]. This equation takes constraints into account in the dynamical equation and involves the generalized Moore-Penrose inverse [19].…”

Section: Introductionmentioning

confidence: 99%

An Approach to the Dynamics and Control of Uncertain Robot Manipulators

Yang

Zhang

et al. 2019

Algorithms

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In this paper, a novel constraint-following control for uncertain robot manipulators that is inspired by analytical dynamics is developed. The motion can be regarded as external constraints of the system. However, it is not easy to obtain explicit equations for dynamic modeling of constrained systems. For a multibody system subject to motion constraints, it is a common practice to introduce Lagrange multipliers, but using these to obtain explicit dynamical equations is a very difficult task. In order to obtain such equations more simply, motion constraints are handled here using the Udwadia-Kalaba equation(UKE). Then, considering real-life robot manipulators are usually uncertain(but bounded), by using continuous controllers compensate for the uncertainties. No linearizations/approximations of the robot manipulators systems are made throughout, and the tracking errors are bounds. A redundant manipulator of the SCARA type as the example to illustrates the methodology. Numerical results are demonstrates the simplicity and ease of implementation of the methodology.

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Derivation of motion equation for mobile manipulator with viscoelastic links and revolute–prismatic flexible joints via recursive Gibbs–Appell formulations

Cited by 39 publications

References 25 publications

Substantiating the requirements to functional indicators for the manipulators of mobile robotic demining complexes

Substantiating the requirements to functional indicators for the manipulators of mobile robotic demining complexes

An efficient finite element formulation of dynamics for a flexible robot with different type of joints

An Approach to the Dynamics and Control of Uncertain Robot Manipulators

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